Exponential convergence of a unified CLF controller for robotic systems under parameter uncertainty.
Shishir KolathayaAaron D. AmesPublished in: ACC (2014)
Keyphrases
- robotic systems
- control architecture
- robotic manipulator
- mobile robot
- autonomous robots
- vision system
- iterative learning control
- impedance control
- manipulation tasks
- real time
- object manipulation
- search and rescue
- convergence speed
- initial conditions
- multi robot
- convergence rate
- control system
- distributed control
- unstructured environments
- particle swarm optimization
- neural network
- optimal control
- machine learning
- mathematical model
- control strategy
- force control
- swarm robotics
- closed loop
- human teaching behavior
- degrees of freedom
- real robot
- control law
- control parameters